Examples with CameraPinholeRadial boofcv.struct.calib.CameraPinholeRadial used on opensource projects

Example 61 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class TestZhang99OptimizationFunction method estimate.

protected static CalibrationObservation estimate(Zhang99AllParam param, Zhang99AllParam.View v, List<Point2D_F64> grid) {
    CalibrationObservation ret = new CalibrationObservation();
    Se3_F64 se = new Se3_F64();
    Point3D_F64 cameraPt = new Point3D_F64();
    Point2D_F64 calibratedPt = new Point2D_F64();
    ConvertRotation3D_F64.rodriguesToMatrix(v.rotation, se.getR());
    se.T = v.T;
    CameraPinholeRadial intrinsic = param.getIntrinsic().getCameraModel();
    for (int i = 0; i < grid.size(); i++) {
        Point2D_F64 gridPt = grid.get(i);
        // Put the point in the camera's reference frame
        SePointOps_F64.transform(se, new Point3D_F64(gridPt.x, gridPt.y, 0), cameraPt);
        // calibrated pixel coordinates
        calibratedPt.x = cameraPt.x / cameraPt.z;
        calibratedPt.y = cameraPt.y / cameraPt.z;
        // apply radial distortion
        CalibrationPlanarGridZhang99.applyDistortion(calibratedPt, intrinsic.radial, intrinsic.t1, intrinsic.t2);
        // convert to pixel coordinates
        double x = intrinsic.fx * calibratedPt.x + intrinsic.skew * calibratedPt.y + intrinsic.cx;
        double y = intrinsic.fy * calibratedPt.y + intrinsic.cy;
        ret.add(new Point2D_F64(x, y), i);
    }
    return ret;
}

Example 62 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class MonoPlanarPanel method setCalibration.

@Override
public void setCalibration(Zhang99AllParam found) {
    CameraPinholeRadial intrinsic = (CameraPinholeRadial) found.getIntrinsic().getCameraModel();
    String textX = String.format("%5.1f", intrinsic.cx);
    String textY = String.format("%5.1f", intrinsic.cy);
    paramCenterX.setText(textX);
    paramCenterY.setText(textY);
    String textA = String.format("%5.1f", intrinsic.fx);
    String textB = String.format("%5.1f", intrinsic.fy);
    paramFX.setText(textA);
    paramFY.setText(textB);
    if (intrinsic.skew == 0) {
        paramSkew.setText("");
    } else {
        String textC = String.format("%5.1e", intrinsic.skew);
        paramSkew.setText(textC);
    }
    String radial = "";
    if (intrinsic.radial != null) {
        for (int i = 0; i < intrinsic.radial.length; i++) {
            radial += String.format("%5.2e", intrinsic.radial[i]);
            if (i != intrinsic.radial.length - 1) {
                radial += "\n";
            }
        }
    }
    paramRadial.setText(radial);
    if (intrinsic.t1 != 0 && intrinsic.t2 != 0)
        paramTangental.setText(String.format("%5.2e\n%5.2e", intrinsic.t1, intrinsic.t2));
    else
        paramTangental.setText("");
}

Example 63 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F32 method fullViewLeft.

public static void fullViewLeft(CameraPinholeRadial paramLeft, FMatrixRMaj rectifyLeft, FMatrixRMaj rectifyRight, FMatrixRMaj rectifyK) {
    // need to take in account the order in which image distort will remove rectification later on
    paramLeft = new CameraPinholeRadial(paramLeft);
    Point2Transform2_F32 tranLeft = transformPixelToRect(paramLeft, rectifyLeft);
    RectangleLength2D_F32 bound = DistortImageOps.boundBox_F32(paramLeft.width, paramLeft.height, new PointToPixelTransform_F32(tranLeft));
    float scaleX = paramLeft.width / bound.width;
    float scaleY = paramLeft.height / bound.height;
    float scale = (float) Math.min(scaleX, scaleY);
    adjustCalibrated(rectifyLeft, rectifyRight, rectifyK, bound, scale);
}

Example 64 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F64 method fullViewLeft.

public static void fullViewLeft(CameraPinholeRadial paramLeft, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight, DMatrixRMaj rectifyK) {
    // need to take in account the order in which image distort will remove rectification later on
    paramLeft = new CameraPinholeRadial(paramLeft);
    Point2Transform2_F64 tranLeft = transformPixelToRect(paramLeft, rectifyLeft);
    RectangleLength2D_F64 bound = DistortImageOps.boundBox_F64(paramLeft.width, paramLeft.height, new PointToPixelTransform_F64(tranLeft));
    double scaleX = paramLeft.width / bound.width;
    double scaleY = paramLeft.height / bound.height;
    double scale = Math.min(scaleX, scaleY);
    adjustCalibrated(rectifyLeft, rectifyRight, rectifyK, bound, scale);
}

Example 65 with CameraPinholeRadial

use of boofcv.struct.calib.CameraPinholeRadial in project BoofCV by lessthanoptimal.

the class ImplRectifyImageOps_F64 method allInsideLeft.

public static void allInsideLeft(CameraPinholeRadial paramLeft, DMatrixRMaj rectifyLeft, DMatrixRMaj rectifyRight, DMatrixRMaj rectifyK) {
    // need to take in account the order in which image distort will remove rectification later on
    paramLeft = new CameraPinholeRadial(paramLeft);
    Point2Transform2_F64 tranLeft = transformPixelToRect(paramLeft, rectifyLeft);
    RectangleLength2D_F64 bound = LensDistortionOps.boundBoxInside(paramLeft.width, paramLeft.height, new PointToPixelTransform_F64(tranLeft));
    LensDistortionOps.roundInside(bound);
    double scaleX = paramLeft.width / (double) bound.width;
    double scaleY = paramLeft.height / (double) bound.height;
    double scale = Math.max(scaleX, scaleY);
    adjustCalibrated(rectifyLeft, rectifyRight, rectifyK, bound, scale);
}